• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    a workpiece holding device (10a) includes a plurality of holding claws (38) configured to hold a workpiece (12a) and holding cylinders (36) as claw opening / closing elements configured to displace the retaining grips (38) in a direction closer to or away from a first workpiece (12a). the holding cylinders (36) are provided, respectively, for the holding jaws (38). therefore, the plurality of retaining jaws (38) can be opened / closed individually. the holding cylinders (36) are held on a support disk (34) as a holding element in a movable manner. that is, by moving the holding cylinders (36) to arbitrary positions on the support disk (34), the holding cylinders (36) are positioned in a fixed manner.
    公开号:BR112019023905A2
    申请号:R112019023905-7
    申请日:2018-04-11
    公开日:2020-06-02
    发明作者:Seo Takeshi
    申请人:Smc Corporation；
    IPC主号:
    专利说明:

    WORK PIECE RETENTION DEVICE
    TECHNICAL FIELD
    [0001] The present invention relates to a workpiece holding device for holding a workpiece by a plurality of holding claws.
    BACKGROUND
    [0002] Conventionally, in order to improve production efficiency, at least a part of each process on a production line has been automated and a robot performs certain work. In this case, for example, as described in Japanese Open Patent Publication Number 2013-000857, a workpiece gripping device (what is called a robot hand) is attached to a robot to take a workpiece from a location predetermined, and transport the workpiece to another location.
    SUMMARY OF THE INVENTION
    [0003] Conventional workpiece gripping devices are able to hold workpieces with simple shapes, like an element in the form of a flat plate. However, it was not possible for these workpiece gripping devices to hold workpieces in various ways. For example, the workpiece gripper according to Japanese Open Patent Publication Number 2013-000857 can hold work pieces of various sizes, but it cannot hold work pieces in various ways.
    [0004] A main objective of the present invention is to provide a workpiece retention device that can retain workpieces in various shapes or in
    Petition 870190117133, of 11/13/2019, p. 11/43
    2/19 various guidelines.
    [0005] In accordance with an embodiment of the present invention, the present invention provides a workpiece holding device including a plurality of holding claws configured to hold a workpiece. The workpiece holding device includes a plurality of jaw opening / closing elements provided for the holding jaws, respectively, and configured to move the holding jaws in a direction closer to or further from the workpiece, an element retaining element configured to hold each of the claw opening / closing elements in an individually movable manner and a displacement element configured to move the retaining elements together with the retaining claws.
    [0006] For example, after a workpiece with a certain shape is transported by operating a displacement element, when another workpiece with a different shape is retained, the opening / closing elements of the gripper can be moved to a position in which it is possible to hold the workpiece. Thus, in the present invention, by changing the position of the opening / closing element of the claw, depending on the shape of the workpiece, it becomes possible to maintain different shapes of the workpieces.
    [0007] In addition, a plurality of retaining jaws is opened / closed individually. So, for example, after operating a retaining gripper to change the orientation of the workpiece, so that the workpiece can be easily retained by operating the
    Petition 870190117133, of 11/13/2019, p. 12/43
    3/19 retaining claws remaining, it is possible to hold the workpiece. Also, by changing the orientation of the workpiece in this way, it is possible to retain different shapes of workpieces. It is clear that these techniques of moving the opening / closing jaw element and opening / closing the retaining jaws individually can be adopted in combination.
    [0008] Preferably, a magnetic clamp configured to magnetically attract the workpiece can be provided for the retaining claw. This is because, due to this magnetic attraction, it is possible to prevent the workpiece from detaching from the retaining jaws.
    [0009] In addition, preferably, a contact piece configured to be moved in a direction closer to or away from the workpiece can be provided, and the contact piece can be configured to contact the workpiece when the contact piece is moved to a position close to the workpiece. When placing the contact piece in contact with a part of the workpiece, the orientation of the workpiece is stabilized. Otherwise, the balance of the workpiece is suppressed. Therefore, it becomes easy to release the transported workpiece to a predetermined position in a predetermined orientation.
    [0010] Also in this contact piece, the magnetic clamp configured to attract the workpiece magnetically can be provided. In this case, for example, after the workpiece is temporarily magnetically attracted (retained), the workpiece can be transferred to the magnetic clamp of the retaining jaws.
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    4/19
    Therefore, it is possible to change the orientation of the workpiece.
    [0011] In addition, for example, when the plurality of workpieces are attracted magnetically by the magnetic clamp on the contact piece, only one workpiece can be transferred to the magnetic clamp of the retaining claw. That is, it is possible to select only one workpiece to be transported.
    [0012] To allow the movement of the claws that open / close elements, for example, a crack can be formed in the retaining element. In addition, by allowing the jaw opening / closing element to move along the slit and being fixedly positioned at the destination, it becomes possible to open / close the retaining jaw under operation of the jaw opening / closing element in destiny.
    [0013] In the structure, it is preferable to provide a guide element configured to guide the claw opening / closing element when the claw opening / closing element is moved. Thus, it is possible to move the opening / closing elements of the claws along the slits.
    [0014] Although the number of retaining jaws is not particularly limited, preferably the number of retaining jaws can be three or four. This is because, in this case, it is possible to hold the workpiece in a sufficiently stable manner and avoid the use of an excessive number of retaining jaws and, consequently, it is possible to avoid an increase in cost.
    [0015] In the present invention, it is possible to move the
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    5/19 claw opening / closing elements and opening / closing the retaining claws individually. That is, it is possible to move the opening / closing elements of the jaw and the holding jaws and opening / closing the holding jaws individually. Therefore, it is possible to retain and transport different forms of workpieces in different orientations.
    [0016] The above and other objects, characteristics and advantages of the present invention will become more evident from the description below, when taken in conjunction with the accompanying drawings, in which the preferred embodiments of the present invention are shown as illustrative example.
    BRIEF DESCRIPTION OF THE DRAWINGS
    [0017] Figure 1 is a perspective view showing schematically the main components of a workpiece retaining device according to a first embodiment of the present invention;
    Figure 2 is a perspective view showing schematically the main components of the workpiece holding device shown in Figure 1, in a state in which a first workpiece is held by the workpiece holding device;
    Figure 3 is a view showing schematically the main components of the workpiece retaining device in a state where the first workpiece is held in another orientation;
    Figure 4 is a perspective view showing schematically the main components of a workpiece retention device, according to
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    6/19 a second embodiment of the present invention;
    Figure 5 is a view showing schematically the main components of the workpiece retaining device shown in Figure 4, in a state where a second workpiece is attracted magnetically by a second magnetic clamp of the workpiece retaining device. job;
    Figure 6 is a view showing schematically the main components of the workpiece retention device, in a state in which the second workpiece is released after that indicated in Figure 5;
    Figure 7 is a view schematically showing the main components of the workpiece retaining device in a state in which two second workpieces are attracted magnetically by the second magnetic clamp;
    Figure 8 is a view showing schematically the main components of the workpiece retaining device in a case where a rod is raised after that indicated in Figure 7;
    Figure 9 is a schematic representation of the main components of the workpiece holding device, in a state where the holding jaws are rotated and the holding jaws come into contact with the second workpiece after that indicated in Figure 8 ;
    Figure 10 is a view showing schematically the main components of the workpiece retaining device in a case where a second magnetic clamp is placed in the OFF position and the first magnetic clamp is placed in the ON position and the retaining clamps have been
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    7/19 returned to their original positions, after the one indicated in figure 9; and
    Figure 11 is a view showing schematically the main components of the workpiece retention device, in the case where the first magnetic clamp is placed in the OFF position and the second workpiece is released after the one indicated in Figure 10.
    DESCRIPTION OF THE MODALITIES
    [0018] Below, according to the present invention, preferred embodiments of a workpiece retention device will be described in detail with reference to the accompanying drawings.
    [0019] Figure 1 is a view showing schematically the main components of a workpiece retention device 10a according to a first embodiment. The workpiece holding device 10a is capable of holding workpieces in various ways, typically including a first workpiece 12a.
    [0020] First, the first workpiece 12a will be described shortly. Two columnar projections 14 are provided at one end of the first workpiece 12a. The first workpiece 12a includes a long flat part 16. A mountain fold portion 18 is formed at one end and a folded portion 20 is formed at the other end of the flat part 16. In addition, a through hole 22 and a cut semicircular 24 are formed in the flat part 16 and another through hole 26 is formed in the folded portion 20. For example, the first workpiece 12a is accommodated in a stocker (not shown), with the
    Petition 870190117133, of 11/13/2019, p. 17/43
    8/19 mountain fold portion 18 oriented downstream and the folded portion 20 oriented upstream.
    [0021] The workpiece retainer 10a includes a robot (not shown) as a displacement element (transport element) and a retainer part 32a provided on an end arm 30 of the robot and configured to hold the first workpiece 12a.
    [0022] The retaining part 32a includes a support disk 34 with a substantially circular disk shape as a retaining element provided in the end arm 30, holding the cylinders 36 as claw opening / closing elements and a plurality of ( three, in the first embodiment) retaining jaws 38. On the support disk 34, four internal circular arc slits 40 and four external circular arc slits 42 are formed. The internal circular arc slits 40 are positioned along a circle. The outer circular arc slits 42 are positioned along another circle. These two circles are concentric circles with a common center.
    [0023] The retaining cylinders 36 are supplied individually for the retaining jaws 38, respectively, in order to open / close (rotate) the retaining jaws 38, individually. That is, the number of the holding cylinders 36 and the number of the holding jaws 38 are the same. Therefore, for example, it is possible to open / close the three retaining claws 38, for example, sequentially.
    [0024] Two cylindrical screw receivers (not shown) and two accessories 50 for connection to a pipe
    Petition 870190117133, of 11/13/2019, p. 18/43
    9/19 supply / discharge to supply / discharge compressed air are provided on the final surfaces of the retaining cylinders 36. The cylindrical screw receptors are positioned below the outer circular arc slots 42 and an accessory 50 is positioned corresponding to each of the internal circular arc slots 40.
    [0025] The screws 46 are screwed into the holes of the receptacles of cylindrical screws. The screws 46 are inserted into the through holes formed in the locking plates 44. That is, the screws 46 are inserted into the through holes and the outer circular arc slits 42 and enter the screw holes. The locking plates 44 are blocked by the support disk 34. In the structure, the screws 46 are locked and the retaining cylinders 36 are fixedly fixed to the support disk 34. In Figure 1, the three retaining cylinders 36 and the claws retention 38 are held on the support disk 34 in such a way that the three retention cylinders 36 and the three retention jaws 38 are substantially 120 ° apart from each other. Since the outer circular arc slots 42 are positioned in the same circle, the retaining jaws 38 are also positioned in the same circle.
    [0026] In addition, the accessories 50 enter the internal circular arc slits 40. The accessories 50 are partially exposed from the internal circular arc slits 40. As described later, when the retaining cylinders 36 are moved, the accessories 50 are displaced along the inner circular arc slits
    Petition 870190117133, of 11/13/2019, p. 19/43
    10/19 to guide the holding cylinders 36. That is, the accessories 50 act as a guide element.
    [0027] The ends of the retaining jaws 38 on one side are coupled to the retaining cylinders 36, and the other ends of the retaining jaws 38 are bent towards the center of the concentric circles. When the other ends of the retaining jaws 38 are positioned close to each other as far as possible, the retaining jaws 38 are closed to secure the first workpiece 12a, that is, the retaining jaws 38 are placed in the clamped state . The other ends of the retaining jaws 38 can be rotated so that they are spaced apart from each other in the directions indicated by the arrows. At this time, the retaining jaws 38 are placed in the unsecured state to release the first workpiece 12a.
    [0028] A traction cylinder 52 is provided in the center of the concentric circles. An impeller 56, as a contact part, is provided at the end of a stem 54 of the drive cylinder 52. When stem 54 moves forward (downstream), impeller 56 contacts (pushes) the bent part 20 of the first workpiece 12a. When the rod 54 moves backwards (upstream), the impeller 56 is moved away from the first workpiece 12a.
    [0029] The workpiece retention device 10a according to the first embodiment basically has the structure above. Next, the operation and effects of the workpiece retainer 10a will be described.
    Petition 870190117133, of 11/13/2019, p. 20/43
    11/19
    [0030] For example, the first workpiece 12a is accommodated in a predetermined workpiece store. The robot moves end arm 30 as needed to make positional alignment so that end arm 30 moves to a position adjacent to the first workpiece 12a and the folded portion 20 of the first workpiece 12a is positioned on the center of the concentric circles, that is, substantially and immediately below the impeller 56. At this time, the retaining jaws 38 are in the free state, where the retaining jaws 38 are spaced from each other.
    [0031] In this state, for example, the three holding cylinders 36 are operated at the same time and the ends of the tips of the three holding jaws 38 are moved closer to the first workpiece 12a. That is, the three retaining jaws 38 are closed. At that time, the two retaining claws 38 come into contact with an end surface of the flat part 16 and the other retaining claw 38 comes into contact with the rear surface of the flat part 16. As a result and shown in Figure 2, the claws retaining clips 38 are placed in the clamped state and the first workpiece 12a is secured by the retaining claws 38.
    [0032] As necessary, the traction cylinder 52 is activated and the rod 54 moves downstream. Consequently, the impeller 56 pushes (contacts) the bent portion 20. As a result of this traction, the first workpiece 12a is pressed from above and the oscillation of the first workpiece 12a is suppressed. That is, in the state in which the first workpiece 12a is
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    12/19 stabilized, the first workpiece 12a is firmly attached.
    [0033] Then, the robot moves the end arm 30, as necessary, so that the retaining piece 32a and the first workpiece 12a are moved together. Thus, the first workpiece 12a is transported to a predetermined position along with the retainer 32a. Then, the drive cylinder 52 is operated to move the stem 54 upward. As a result, impeller 56 is spaced from the first workpiece 12a. In addition, the three holding cylinders 36 are operated at the same time. As a result, the three retaining jaws 38 are spaced from the first workpiece 12a at the same time. That is, the retaining jaws 38 are opened and placed in the unsecured state. The first workpiece 12a is released from the retaining grips 38.
    [0034] In the case where the workpiece can be held firmly only by the retaining grips 38, there is no special need for the impeller 56 to propel the workpiece. In addition, in the case where the longitudinal direction of the workpiece is oriented in the horizontal direction, as shown in Figure 3, where only two retaining jaws 38 are illustrated and the two retaining jaws 38, stem 54 and impeller 56 are illustrated in a simplified way, the workpiece can be lifted by the closed retaining claws 38 and the workpiece can be held using the impeller 56 to urge the upper end surface of the workpiece.
    [0035] In addition, it is possible to change the positions of the retaining grips 38 accordingly, depending on the shape
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    13/19 of the workpiece. That is, after the screws 46 are loosened to release the retaining cylinders 36, the retaining cylinders 36 are moved along the circumference of the support disk 34. At this time, the accessories 50 are moved along the circular arc slits inner 40, to guide the holding cylinders 36. As described above, by forming the inner circular arc slots 40 in the support disc 34 and by inserting the accessories 50 into the inner circular arc slits 40, in a displaceable manner, if possible, easily move the holding cylinders 36 to predetermined positions.
    [0036] The retaining jaws 38 can be rotated (closed) individually, depending on the shape or orientation of the workpiece. This case will be described as a second modality, in which magnetic clamps are provided for the retaining grips 38. The constituent elements of the second modality that are identical to those of the first modality are marked with the same reference numbers, and their detailed description is omitted .
    [0037] Figure 4 is a perspective view showing schematically the main components of a workpiece retention device 10b according to the second embodiment. The workpiece holding device 10b is configured to collect one of a plurality of second workpieces 12b in the form of flat plates and transport the chosen second workpiece 12b to a predetermined position.
    [0038] The workpiece retainer 10b includes a robot as a displacement element (transport element) and a retainer 32b provided to the
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    14/19 end arm 30 to retain the second workpiece 12b.
    [0039] The retaining part 32b includes a support disk 34, four retaining cylinders 36, four retaining claws 38 and a pull cylinder 52. Four internal circular arc slits 40 and four external circular arc slits 42 are formed on the support disk 34. The retaining cylinders 36 are fixedly positioned to the support disk 34, through the locking plates 44 and screws 46.
    [0040] A first magnetic clamp 60 is provided at each end of the tip of the retaining claws 38, one facing the other. A supply / discharge tube (not shown) for supplying / discharging compressed air is connected to the first magnetic clamp 60. When compressed air is supplied, the first magnetic clamp 60 magnetically attracts the second workpiece 12b and, when air compressed, the first magnetic clamp 60 is detached from the second workpiece 12b.
    [0041] In addition, a second magnetic clamp 62 in the form of a substantially circular disc is provided at one end of the rod 54 of the pull cylinder 52. As in the first magnetic clamp 60, when compressed air is supplied through a tube supply / discharge not shown, the second magnetic clamp 62 magnetically attracts the second workpiece 12b and, when compressed air is discharged, the second magnetic clamp 62 is detached from the second workpiece 12b. Once the structure above is known, the detailed description of the
    Petition 870190117133, of 11/13/2019, p. 24/43
    15/19 the first magnetic clamp 60 and the second magnetic clamp 62 are omitted.
    [0042] Next, the operation and effects of the workpiece retention device 10b will be described according to the second modality.
    [0043] The robot moves the end arm 30 as necessary to obtain positional alignment in such a way that the end arm 30 moves to a position adjacent to the stocker and one of the second predetermined workpieces 12b, which are arranged in parallel, it is positioned in the center of the concentric circles formed by the internal circular arc slits 40 and the external circular arc slits 42, that is, substantially and immediately below the second magnetic clamp 62. At this moment, the retaining claws 38 are in the free state, where the retaining jaws 38 are spaced from each other.
    [0044] In this state, the traction cylinder 52 is operated and the stem 54 is lowered. As a result, and according to Figure 5, the second magnetic clamp 62 comes into contact with the upper surface of the second workpiece 12b. It should be noted that in Figure 5 and in the same way, in the subsequent drawings, only two retaining claws 38 are illustrated and the two retaining claws 38, the stem 54, the first magnetic clamps 60 and the second magnetic clamp 62 are illustrated in simplified way. In addition, the first magnetic clamps 60 and the second magnetic clamps 62 are indicated by double frames. The hatch added to the structure adjacent to the second workpiece 12b indicates that the magnetic clamp is in the ON position. Hatches added to the remote structure
    Petition 870190117133, of 11/13/2019, p. 25/43
    16/19 from the second workpiece 12b indicate that the magnetic clamp is in the OFF position. That is, in the first case, the second workpiece 12b magnetically attracts the second magnetic clamp 62 and, in the last case, the second workpiece 12b is released from the second magnetic clamp 62.
    [0045] In the state shown in Figure 5, the second magnetic clamp 62 is in the ON position. Therefore, the second workpiece 12b that contacts the second magnetic clamp 62 is attracted magnetically, thus the second workpiece 12b is held by the second magnetic clamp 62.
    [0046] In the case where the number of the second magnetically attracted workpieces 12b is one, transport can be carried out in this state. That is, the robot moves the end arm 30 as needed and moves the retainer 32b and the second workpiece 12b together. As a result, the second workpiece 12b is transported to a predetermined position along with the retainer 32b. Then, as shown in Figure 6, the second magnetic clamp 62 is placed in the OFF position. The second magnetic clamp 62 is spaced from the second workpiece 12b and the pull cylinder 52 is operated to move the stem 54 upward. In this way, the second workpiece 12b is released from the second magnetic clamp 62.
    [0047] It should be noted that, as shown in Figure 7, the second magnetic clamp 62 can magnetically attract a plurality of the second workpieces 12b. In this case, as shown in Figure 8, after the stem 54 is
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    17/19 elevated, for example, as shown in Figure 9, only one holding cylinder 36 is operated and the first magnetic clamp 60 of the holding claw 38 contacts a main surface of the second workpiece 12b, which is facing for the first magnetic clamp 60. At this time, the first magnetic clamp 60 is placed in the ON position and the second magnetic clamp 62 is placed in the OFF position.
    [0048] As a result and according to Figure 10, the second workpiece 12b which is in contact with the first magnetic clamp 60 is released from the connection by the magnetic force of the second magnetic clamp 62 and is magnetically attracted by the first magnetic clamp 60. At the same time, the second workpiece 12b that is not in contact with the first magnetic clamp 60 is released from the connection by the magnetic force of the second magnetic clamp 62 and detached from the retainer 32b. Then, the holding cylinder 36 is operated and the closed holding jaws 38 are opened to return to their original positions. That is, the second workpiece 12b is held by the first magnetic clamp 60, so that the longitudinal direction of the second workpiece 12b is oriented in the horizontal direction.
    [0049] The robot then operates the end arm 30, as needed, and moves the retaining piece 32b and the second workpiece 12b held by the first magnetic clamp 60. Thus, the second workpiece 12b and the workpiece holders 32b are transported together to a predetermined position. Then, as shown in Figure 11, the first magnetic clamp 60 is placed in the
    Petition 870190117133, of 11/13/2019, p. 27/43
    18/19
    OFF. As a result, the second workpiece 12b is released from the first magnetic clamp 60.
    [0050] As described above, the retaining cylinder 36 is provided to each of the retaining jaws 38. By allowing the retaining jaws 38 to be opened / closed (or rotated) individually, it becomes possible to classify and maintain only one among the plurality of second workpieces 12b which are provided in parallel. That is, it is possible to transport only the required number of second workpieces 12b.
    [0051] In addition, as can be seen in Figures 5 and 10, it is possible to transport the second workpiece 12b in different orientations. For this reason, it can be understood that, in the case of work pieces having different shapes, adjusting accordingly to the guidelines, the respective work pieces can be transported properly. As needed, the positions of the retaining jaws 38 can be changed to suitable positions, in the same way as in the case of the first embodiment. In this way, also in the workpiece retention device 10b, according to the second embodiment, it is possible to maintain the workpieces in various ways.
    [0052] The present invention is not limited to the first modality and the second modality. Various modifications can be made without departing from the essence of the present invention.
    [0053] For example, the number of retaining jaws 38 is not limited to three or four. The number of the retaining jaws 38 can be two, or four or more.
    [0054] Furthermore, it is not essential to supply the
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    19/19 first magnetic clamp 60, second magnetic clamp 62, pull cylinder 52 and impeller 56. The workpiece retaining device may have a structure in which these parts are omitted.
    权利要求:
    Claims (7)
    [1]
    1. Workpiece retaining device (10a) including a plurality of retaining claws (38) configured to retain a workpiece (12a), the workpiece retaining device (10a) characterized by the fact that it comprises :
    a plurality of jaw opening / closing elements (36) provided for the holding jaws (38), respectively, and configured to move the holding jaws (38) in a direction closer to or further from the workpiece (12a) ;
    a retaining element (34) configured to hold each of the claw opening / closing elements (36) movable individually;
    and a displacement element configured to move the retaining elements (34) together with the retaining grips (38).
    [2]
    2. Workpiece retention device (10a), according to claim 1, characterized by the fact that it also comprises a magnetic clamp (60) provided with the retaining claw (38), a magnetic clamp (60) being configured to magnetically attract the workpiece (12a).
    [3]
    3. Workpiece retention device (10a), according to claim 1 or 2, characterized by the fact that it also comprises a contact part (56) configured to be moved in a direction closer or further from the workpiece (12a) and configured to contact the workpiece (12a) when the contact piece (56) is moved to a position close to the
    Petition 870190117133, of 11/13/2019, p. 30/43
    2/2 workpiece (12a).
    [4]
    4. Workpiece retention device (10b), according to claim 3, characterized by the fact that it also comprises a magnetic clamp (62) provided for the contact piece (56), the magnetic clamp (62) being configured to magnetically attract the workpiece (12b).
    [5]
    Workpiece retaining device (10a) according to any one of claims 1 to 4, characterized in that a slot (40) is formed in the retaining element (34) and the slot (40) is configured to allow the claw opening / closing element (36) to move or be fixedly positioned along the slot (40).
    [6]
    6. Workpiece retention device (10a), according to claim 5, characterized by the fact that it also comprises a guide element (50) configured to guide the claw opening / closing element (36), when the claw opening / closing element (36) is moved.
    [7]
    Workpiece retaining device (10a) according to any one of claims 1 to 6, characterized in that the number of retaining jaws (38) is three or four.
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    法律状态:
    2021-10-19| B350| Update of information on the portal [chapter 15.35 patent gazette]|
    优先权:
    申请号 | 申请日 | 专利标题
    JP2017099091A|JP6808181B2|2017-05-18|2017-05-18|Work holding device|
    JP2017-099091|2017-05-18|
    PCT/JP2018/015184|WO2018211869A1|2017-05-18|2018-04-11|Workpiece holding device|
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